EP0941454B1 - Capteur de valeurs absolues, notamment capteur d'angle de rotation pour saisir l'angle de braquage d'un vehicule a moteur - Google Patents

Capteur de valeurs absolues, notamment capteur d'angle de rotation pour saisir l'angle de braquage d'un vehicule a moteur Download PDF

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Publication number
EP0941454B1
EP0941454B1 EP97951101A EP97951101A EP0941454B1 EP 0941454 B1 EP0941454 B1 EP 0941454B1 EP 97951101 A EP97951101 A EP 97951101A EP 97951101 A EP97951101 A EP 97951101A EP 0941454 B1 EP0941454 B1 EP 0941454B1
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EP
European Patent Office
Prior art keywords
absolute value
coding
absolute
evaluation unit
sensor according
Prior art date
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EP97951101A
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German (de)
English (en)
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EP0941454A2 (fr
Inventor
Cornelius Peter
Wolfgang Huber
Trevor Stewart
Zdenek Pavlis
Danilo Caratto
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BCS Automotive Interface Solutions GmbH
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BCS Automotive Interface Solutions GmbH
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Priority claimed from DE1996151771 external-priority patent/DE19651771C1/de
Application filed by BCS Automotive Interface Solutions GmbH filed Critical BCS Automotive Interface Solutions GmbH
Publication of EP0941454A2 publication Critical patent/EP0941454A2/fr
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Publication of EP0941454B1 publication Critical patent/EP0941454B1/fr
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/249—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/249—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
    • G01D5/2492—Pulse stream
    • G01D5/2495—Pseudo-random code
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/249—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
    • G01D5/2497—Absolute encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/34776—Absolute encoders with analogue or digital scales

Definitions

  • the invention relates to a digital absolute encoder, in particular a rotary encoder for detecting the steering angle of a motor vehicle.
  • Known digital absolute encoders e.g. JP 4-1522 A
  • Detection of the absolute angle of rotation are generally suitable, have a coding by scanning each word, i.e. of bits in a row, the determination of a value assigned to this word.
  • a disadvantage of such digital absolute encoders is that the words have a relatively large width must have to ensure a sufficient resolution.
  • Is DE 195 45 949 A1 describes a digital absolute position encoder or method known, in which the number of tracks required for Creation of an absolute encoder with a one-step code is reduced, however, this advantage is only achieved by using multiple detectors reached per track. This means a higher outlay in terms of circuitry.
  • Relative value encoders are easier and less expensive to implement, but in In this case, an initialization process before the system is started up Calibration of the relative encoder required. For example, the steering system must do this or the steering wheel are brought into a defined position from which based on the relative detection of the steering angle, absolute values for the Steering angle can be determined. There is a possibility of the initial value (Initialization-wide) to determine the absolute values also so that the value is retained when the system is de-energized. Problematic is that after turning off the system steering movements are not are recorded and consequently an initialization process after each activation of the system would have to be run through.
  • absolute encoders are known, the incremental and absolute Combine coding and decoding methods (e.g. EP 0 530 176 A1; EP 0 545 701 A1).
  • EP 0 530 176 A1 an absolute code.
  • the absolute positions are determined using a first Detector as with conventional absolute encoders, but only one small width of digital words is required. Based on that then known absolute positions can then be determined using the incremental code, the is scanned by a further detector with a relative movement of Code and detector the respective absolute position can be determined.
  • This type of absolute encoder also requires a relatively high effort and can only correctly detect the absolute position after being de-energized, when the first absolute code has been reached. This is in automotive engineering not permitted for security reasons.
  • the invention is therefore based on the object of an absolute encoder, in particular To provide rotary encoders for detecting the steering angle of a motor vehicle, that can be implemented as simply and inexpensively as possible and at the same time is one sufficient operational safety, especially after the power supply is switched off Systems, guaranteed.
  • the evaluation unit can make the determination of the absolute value in any case by assigning the relevant predetermined Make the value for the current p-tuple.
  • the direction of movement can be changed by fulfilling the aforementioned condition b) in a simple manner by evaluating the words W p-2 and W p : If the two words match, the direction of movement has changed.
  • the absolute value can be determined by evaluating the p-tuple as well can be determined by incrementing / decrementing the previous value and an error signal is generated if they do not match.
  • p 3 consecutive words W i are evaluated.
  • the coding comprises at least two contiguous areas, both within each Areas as well as at the seams the aforementioned coding conditions are fulfilled.
  • the coding within the areas is preferably identical and runs in the same direction.
  • an additional track to the tracks of the digital words W i with a successive sequence of the values logic "zero” and logic "one” is provided or one Trace the digital words of the coding is formed in this way.
  • the evaluation unit For scanning the track with the alternating sequence of values logically "zero" and Logically “one” can be two detectors, preferably offset by half a step be provided, the evaluation unit from the phase shift the sensor signals determine the direction of rotation and / or a change in direction of rotation. In addition, the evaluation unit can use the signal from one or both sensors determine whether a step has been taken and, depending on this, a sampling of the digital Words.
  • the coding can be designed in such a way that within the at least one uniqueness range for one, several or all sequences [W i , W i + 1 , ..., W i + p-1 ] of the coding also the respectively mirrored sequence [W i + p-1 , ..., W i + 1 , W i ] exists and that the evaluation unit determines the absolute value from the direction of rotation and the detected p-tuple. This results in a maximum length of the coding with guaranteed step detection.
  • the uniqueness ranges can be provided by a Detection device for rough detection of the absolute position and the additional Evaluate their position signal.
  • the accuracy of this rough detection device must be better than the difference between the two Limits of position values corresponding to each of the at least two coding areas.
  • the evaluation unit can then determine the exact absolute position value the evaluation of the signal of the at least one detector for detecting the coding and the signal of the coarse detection device with the accuracy and Determine the resolution of the coding.
  • the maximum possible value for the absolute (ambiguous) position is designated by ⁇ r, max by evaluating the p-tuple.
  • the evaluation unit checks whether the determined absolute position value ⁇ r, corr is within the permissible tolerance range ⁇ a - ⁇ ⁇ r, corr ⁇ a + ⁇ and generates an error signal in the event of an error and / or carries out an adjustment of the coarse detection device by.
  • the evaluation unit can for this purpose determine the difference between the determined absolute value ⁇ r, corr and the position value ⁇ a and store it in a preferably non-volatile memory and use it as a correction value for future determinations of the position value ⁇ a .
  • the absolute encoder is a rotary encoder formed, wherein the transmitter part is rotatably connected to a part whose Angle of rotation is to be recorded, e.g. the steering shaft of a car or with it connected part.
  • the coding provided on the transmitter part is preferred endless and provided on the outer circumference of the encoder part. At every interface the conditions according to claim 2 are fulfilled.
  • the components shown in FIG. 1 are essentially the steering wheel 1 and a multifunction unit 3, which u.a. an absolute encoder 5 includes to detect the steering angle.
  • the multifunction unit 3 consists of a stationary housing part 7, which consists of the two halves 7a and 7b.
  • the stationary housing part 7 is designed that it can be pushed onto a steering column 9 (FIG. 2) and surrounds it.
  • the multifunctional unit 3 has a housing part 15, which on the rear 1a of the hub area of the steering wheel is attachable and for receiving a transmitting / receiving unit 17, which is used for the data transmission from and to the functional units 13 arranged on the steering wheel 1 Circuits.
  • the circuits of the electronics unit 11 are on one Circuit board 19 arranged, which in the interior of the half 7b of the housing part 7 in is shown in more detail.
  • the interior of half 7b is through that radially to the axis A of the steering column 9 extending rear wall of the half 7a of the housing part 7 is essentially sealed.
  • the rear area of the half 7b of the housing part 7 encloses with it central recess, the steering column 9 and can be rotatably fixed by means of a clamp 27 with that which is stationary with respect to the rest of the vehicle (at least not with the steering shaft rotatable) outside of the steering column 9 are connected.
  • the steering wheel 1 is connected by means of a nut 29 to the steering shaft 31, which for this purpose is threaded in its foremost area. Furthermore is with the steering wheel 1 rotatably connected to a sleeve 33 which engages around the steering column 9. On the sleeve 33, a first gear 35 is rotatably fastened, which together is rotatable with the steering wheel 1.
  • a plunger 37 as a detection device for rough detection of the absolute steering angle Plunger coil unit 39 arranged.
  • the moving coil 37 cannot do this in more detail have shown connection contacts for the coil, which in corresponding Contact holes in the board 19 engage and at the same time with the rest Electronic components can be soldered.
  • the moving coil unit 39 further comprises a threaded spindle 41, which is connected to its rear end rotatably held in the rear wall of the plunger 37 is.
  • a threaded spindle 41 On the threaded spindle 41, an immersion element 43 is held, the Immersion element 43 has a threaded bore which is connected to the external thread the threaded spindle 41 cooperates in such a way that upon rotation the threaded spindle 41 translates the immersion element 43 into the coil 37 or is moved out of it.
  • the immersion element 43 is preferably made made of a ferrite and is additionally through the inner wall of the moving coil 37 performed in its direction of displacement.
  • a second gear 45 is fixed against rotation arranged, which with the rotationally fixed on the sleeve 33 first gear 35 combs.
  • the evaluation unit 11 provided on the board 19 (only this part of the electronics unit is important for understanding the invention) evaluates changes in inductance the moving coil unit 39 due to the translational movement of the immersion element 43 and thus sets in the rotary movement of the steering wheel corresponding electrical signal. This can of course be act an analog or a digital signal.
  • the absolute value encoder 5 includes a device 47 for precise detection of the steering angle.
  • this consists of a donor part 49 designed as a ring, on the circumferential surface of which a coding 51 is provided.
  • This consists of three tracks in the circumferential direction, in each of which three markings 53 are arranged in axially extending lines.
  • the three markings in each row represent digital words W i with three bits each. Successive words W i are preferably provided immediately adjacent to one another in the circumferential direction.
  • the ring 49 is pushed onto the sleeve 33 and is held on it in a rotationally fixed manner. When the steering wheel 1 rotates, the ring 49 is thus also together with the sleeve 33 rotated.
  • the three detectors 55 can be designed, for example, as Hall sensors, which correspondingly magnetically designed markings 53 of the coding 51 to capture.
  • the signal from the detectors 55 is also fed to the evaluation unit 11.
  • a single detector can of course also be used be used, the separate detection of the marks 53 of the three tracks enabled with sufficient speed.
  • the markings 53 and detectors 55 can also be realized in any other way, for example as optical markers and an optical detectors.
  • only a single sensor can be provided for signal evaluation be, which scans both the markings 51 of all tracks.
  • coding is generally used which, by scanning each word, ie the bits in a line, enables the determination of a value assigned to this word.
  • resolution 1.5 °
  • 8 bits would be required in order to be able to immediately determine the angle of rotation by scanning a word W i once.
  • this would be associated with a disproportionately high outlay, both in the creation of the coding or manufacture of the ring 49 and in the implementation of the detectors 55.
  • the width of the words W i is three bits.
  • the same coding is used in each of the two areas I, II both coding areas have the same direction of coding.
  • the two conditions 60, 62 also meet the aforementioned conditions.
  • the moving coil unit 39 and the ring 49 are mechanically connected to the steering shaft 31 are coupled, the signals of the serving as a coarse detection device Plunger coil unit and the signals from the detectors 55 in a fixed relationship.
  • the ambiguity of the signals from the detectors, each of which is the 3-bit words can generate in the following manner through the additional evaluation the signal of the moving coil unit can be eliminated.
  • the starting point is a situation in which the absolute encoder 5 is connected to the power supply for the first time and, consequently, not a single digital word W i of the coding 51 has yet been detected by scanning the markings 53 by means of the detectors 55.
  • the evaluation unit 11 supplies the signal S T to the moving coil unit 39 and can be evaluated by the evaluation unit.
  • the evaluation unit 11 compares, for example, the instantaneous value of the signal S T of the moving coil unit 39 with a previously known characteristic curve ⁇ n (S T ), which can be stored, for example, as a functional dependency or in the form of digitized values in the evaluation unit 11, and determines in this way a rough value for the angle of rotation.
  • this rough value ⁇ a (S T ) can first be output by this absolute value encoder 5 to this control unit.
  • the evaluation unit can already derive from the three first recorded digital words W i , ie the first 3-tuple absolute angle of rotation determined with the accuracy specified by the coding.
  • the evaluation unit To eliminate the ambiguity of the 3-tuple - it is initially unknown in which absolute position the steering shaft is based on the straight-ahead position - the evaluation unit first determines a permissible tolerance range for the coarse angle ⁇ n determined from the signal S T of the moving coil unit. For this purpose, a value for an error barrier ⁇ is stored in the moving coil unit, for example. The evaluation unit 11 thus determines the tolerance range for ⁇ n - ⁇ ⁇ ⁇ a + ⁇ , the width 2 ⁇ of the tolerance range being smaller than each of the two uniqueness ranges of the coding of the transmitter part, ie smaller than 180 °.
  • the evaluation unit 11 determines the first (ambiguous, but exact) angle of rotation ⁇ r , which is in the range [0; 180 [is.
  • the evaluation unit 11 determines whether the value ⁇ r is less than or equal to half the maximum possible value for the angle of rotation ⁇ r or greater.
  • INT is the integer division.
  • the absolute value can in future by detecting the individual steps and the changes in the direction of rotation can be determined by simple incrementing or decrementing. Of course however, it can also occur at every step or at predetermined intervals or for certain occasions the procedure described above under additional Using the signal of the moving coil unit.
  • any sequence is selected as the starting value.
  • this sequence is deleted from the table created. As well the mirrored sequence is deleted.
  • the p-1 last words W i + 1 , W i + p-2 and W i + p-1 of the last selected sequence are called the p-1 first words W i , W i + 1 , ... , W i + p-2 of the subsequent sequence of coding and selected from the remaining options in the table created a sequence which has the same p-1 first words.
  • the selected sequence is deleted as well as the mirrored sequence.
  • This fifth step is repeated until there is a sufficient coding length has been reached or all available consequences have been used up. Possibly. can the starting value or the selection criterion, which of several possible p-tuples is selected, be changed if the process is terminated too early should.
  • the coding can be within a range of uniqueness one, several or all (nested) sequences of p digital words the mirrored sequence is available. Because of the known direction of rotation does the evaluation unit know even when using a FIFO register (and associated identical detected p-tuples when crossing a certain one Bear from one direction and when driving over the mirrored sequence from the other direction) by what order within the uniqueness range it is about.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Claims (19)

  1. Indicateur de valeur absolue
    a) comportant une partie indicatrice (49) sur laquelle on a prévu un codage (51) d'un nombre prédéterminé n de mots numériques Wi qui se succèdent localement d'une largeur de m bits (b1, b2, ..., Bm) dans m pistes situées l'une à côté de l'autre,
    b) comportant au moins un détecteur (55) essentiellement destiné à la détection simultanée des bits isolés (b1, b2, ..., Bm) d'un mot numérique Wi,
    c) dans lequel la partie indicatrice (49) et le détecteur (55) au moins au nombre d'un peuvent se déplacer l'un par rapport à l'autre,
    d) et comporte une unité d'évaluation (11) à laquelle est amené le signal du détecteur (55) au moins au nombre d'un,
    caractérisé en ce que
    e) l'unité d'évaluation (11) est formée de telle sorte qu'elle détermine au moins une fois la position absolue de la partie indicatrice (49) relativement au détecteur (55) au moins au nombre d'un, au moyen de l'évaluation d'un nombre p prédéterminé de mots numériques Wi détectés successivement,
    g) l'unité d'évaluation (11) pouvant attribuer à un p-tuple détecté [Wi, Wi+1, ..., Wi+p-1], composé du nombre p prédéterminé de mots numériques Wi détectés successivement, une valeur de position de la partie indicatrice définie (49) relativement au détecteur (55) au moins au nombre d'un,
    h) le codage étant conçu de telle sorte que toutes les séquences (Wi, Wi+1, ..., Wi+p-1] du codage constitué de mots Wi successifs présents selon un nombre prédéterminé p sont univoques au moins à l'intérieur d'un domaine d'univocité (I, II) prédéterminé du codage (51) et que les mots numériques Wi ne sont pas univoques à l'intérieur de chacun des domaines d'univocité (I, II).
  2. Indicateur de valeur absolue selon la revendication 1 caractérisé en ce que le codage (51) remplit en outre au moins l'une des conditions suivantes :
    a) deux mots [Wi, Wi+1] voisins présentent à chaque fois des valeurs différentes ;
    b) chacun des mots Wi-1 et Wi+1 voisins d'un mot W; présentent des valeurs différentes,
    c) il ne doit exister aucune séquence [Wi, Wi+1, ..., Wi+p-1] à l'intérieur du domaine d'univocité (I, II), au nombre d'au moins un, du codage (51) qui soit une séquence réfléchie [Wi+p-1, ..., Wi+1, Wi].
  3. Indicateur de valeur absolue selon la revendication 1 ou 2 caractérisé en ce que l'unité d'évaluation (11) est formée de telle manière qu'elle détermine la position absolue de la partie indicatrice (49) par rapport au détecteur (55), au moins au nombre d'un, à chaque fois en attribuant au p-tuple détecté [Wi, Wi+1, ..., Wi+p-1] la valeur de position correspondante.
  4. Indicateur de valeur absolue selon la revendication 3 caractérisé en ce que l'unité d'évaluation (11) est formée de telle manière que, suite à une détermination unique de la position absolue, elle établit la position absolue ultérieure de la partie indicatrice (49) par rapport au détecteur (55), au moins au nombre d'un, en incrémentant ou en décrémentant la valeur de position déterminée de façon unique.
  5. Indicateur de valeur absolue selon l'une des revendications précédentes caractérisé en ce que l'unité d'évaluation (11) est formée de telle manière qu'elle détermine la modification dans la direction du déplacement en comparant les mots numériques Wp-3 et Wp-1 d'un p-tuple détecté et qu'elle détecte une modification de la direction de rotation au moyen de sa concordance après le passage du mot numérique Wp-2.
  6. Indicateur de valeur absolue selon l'une des revendications précédentes caractérisé en ce que l'unité d'évaluation (11) est formée de telle manière qu'elle détermine la direction absolue du déplacement en comparant un p-tuple détecté avec une représentation enregistrée du codage (51), la condition c) de la revendication 2 devant alors être remplie.
  7. Indicateur de valeur absolue selon l'une des revendications précédentes caractérisé en ce que l'unité d'évaluation (11) est formée de telle manière qu'elle détermine la position absolue aussi bien par l'incrémentation / la décrémentation de la valeur précédente que par l'évaluation du p-tuple détecté correspondant et qu'elle produit un signal d'erreur lorsqu'il n'y a pas concordance.
  8. Indicateur de valeur absolue selon l'une des revendications précédentes caractérisé en ce que la largeur m des mots numériques Wi est égale à 3 et que le nombre prédéterminé p de mots successifs servant à la détermination de la position est égal à 3.
  9. Indicateur de valeur absolue selon l'une des revendications précédentes caractérisé en ce que le codage (51) sur la partie indicatrice (49) comprend au moins deux domaines successifs (I, II) qui présentent chacun le nombre prédéterminé n de mots numériques Wi.
  10. Indicateur de valeur absolue selon la revendication 9 caractérisé en ce que sur l'interface (60, 62), au moins au nombre d'une, des deux domaines (I, II), au moins au nombre de deux, les conditions de la revendication 2 sont aussi remplies.
  11. Indicateur de valeur absolue selon l'une des revendications précédentes caractérisé en ce que, afin de reconnaítre la direction de rotation et/ou une modification de la direction de rotation et/ou afin de reconnaítre la progression, on a prévu une piste qui vient s'ajouter aux pistes des mots numériques Wi et qui comporte une séquence successive des valeurs logiquement " nul " et logiquement " un " ou qu'une piste des mots numériques est formée de cette manière.
  12. Indicateur de valeur absolue selon la revendication 11 caractérisé en ce que, afin de balayer la piste avec la séquence alternante des valeurs logiquement " nul " et logiquement " un ", on a prévu deux détecteurs de préférence décalés d'un demi pas de progression et que l'unité d'évaluation est formée de telle manière qu'elle détermine la direction de rotation et/ou une modification de la direction de rotation issue du décalage de phase des signaux du capteur.
  13. Indicateur de valeur absolue selon l'une des revendications 11 ou 12 caractérisé en ce que le codage est réalisé de telle manière qu'à l'intérieur d'un domaine d'univocité (I, II), au moins au nombre d'un, il existe aussi pour une, plusieurs ou toutes les séquences [Wi, Wi+1, ..., Wi+p-1] du codage (51) la séquence réfléchie [Wi+p-1, ..., Wi+1, Wi] et que l'unité d'évaluation (11) détermine la valeur absolue issue de la direction de rotation et du p-tuple détecté.
  14. Indicateur de valeur absolue selon l'une des revendications 9 à 13 caractérisé en ce que l'on a prévu un dispositif de détection (39) destiné à une détection approximative de la position absolue; l'exactitude de ce dispositif sera supérieure à la différence des valeurs correspondant aux deux limites de chacun des deux domaines d'univocité (I, II), au moins au nombre de deux, et l'unité d'évaluation (11) sera formée de telle manière que, pour déterminer la position absolue à l'intérieur de l'ensemble du codage (51), elle détermine d'abord la valeur approximative de la position absolue à l'aide du dispositif de détection (39) et qu'elle détermine la valeur exacte de la position absolue en ayant aussi recours à l'information plurivoque prise en soi du détecteur (55), au moins au nombre d'un.
  15. Indicateur de valeur absolue selon la revendication 14 caractérisé en ce que l'unité d'évaluation (11) est formée de telle sorte qu'elle réalise les étapes suivantes pour déterminer la valeur exacte de la position absolue :
    a) détermination de la valeur de la position α2 correspondant au signal courant (ST) du dispositif de détection (39) destinée à déterminer la valeur approximative ;
    b) détermination d'une limite inférieure αs-δ et d'une limite supérieure αs +δ d'une zone de tolérance admissible [αs-δ; αs+δ] pour la valeur déterminée de la position absolue αs, la largeur (2δ) de la zone de tolérance étant inférieure à chacun des domaines d'univocité (I, II) du codage (51) de la partie indicatrice (49) ;
    c) détermination de la valeur plurivoque de la position αT par l'évaluation du signal du détecteur (55), au moins au nombre d'un, qui reconnaít le codage (51) ;
    d) détermination de la valeur absolue corrigée αTcorr selon la règle αTcorr = INT[(αs+δ)/αTmax] . αTmax + αT pour αT αTmax /2 αTcorr = INT[(αs-δ)/αTmax] . αTmax + αT pour αT >αTmax /2
  16. Indicateur de valeur absolue selon la revendication 15 caractérisé en ce que l'unité d'évaluation (11) est conçue de telle manière qu'elle vérifie si la valeur déterminée αTcorr est comprise dans la zone de tolérance admissible et qu'en cas d'erreur elle émet un signal d'erreur et/ou qu'elle réalise une mise au point du dispositif de détection (39) pour l'évaluation approximative de la position absolue.
  17. Indicateur de valeur absolue selon la revendication 16 caractérisé en ce que l'unité d'évaluation (11) est formée de telle manière qu'elle détermine la différence entre la valeur absolue déterminée αTcorr et la valeur de la position αs et qu'elle la stocke dans une mémoire de préférence rémanente et qu'elle l'utilise pour des déterminations ultérieures de la valeur de la position αs en tant que valeur de correction.
  18. Indicateur de valeur absolue selon l'une des revendications précédentes caractérisé en ce que l'indicateur de valeur absolue (5) est formé en tant qu'encodeur.
  19. Indicateur de valeur absolue selon la revendication 18 caractérisé en ce que la partie indicatrice (49) orientable peut être reliée à une pièce (31) dont l'écart angulaire doit être détecté et qu'on a prévu que le codage (51) soit sans fin sur la partie indicatrice (49), de préférence sur la partie externe de la partie indicatrice (49), et que sur chacune des interfaces (60, 62) les conditions de la revendication 2 sont remplies.
EP97951101A 1996-12-02 1997-12-01 Capteur de valeurs absolues, notamment capteur d'angle de rotation pour saisir l'angle de braquage d'un vehicule a moteur Expired - Lifetime EP0941454B1 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE19649911 1996-12-02
DE19649911 1996-12-02
DE1996151771 DE19651771C1 (de) 1996-12-12 1996-12-12 Absolutwertgeber, insbesondere Drehgeber zur Erfassung des Lenkwinkels eines Kraftfahrzeugs
DE19651771 1996-12-12
PCT/DE1997/002798 WO1998025101A2 (fr) 1996-12-02 1997-12-01 Capteur de valeurs absolues, notamment capteur d'angle de rotation pour saisir l'angle de braquage d'un vehicule a moteur

Publications (2)

Publication Number Publication Date
EP0941454A2 EP0941454A2 (fr) 1999-09-15
EP0941454B1 true EP0941454B1 (fr) 2002-02-06

Family

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Application Number Title Priority Date Filing Date
EP97951101A Expired - Lifetime EP0941454B1 (fr) 1996-12-02 1997-12-01 Capteur de valeurs absolues, notamment capteur d'angle de rotation pour saisir l'angle de braquage d'un vehicule a moteur

Country Status (6)

Country Link
US (1) US6226569B1 (fr)
EP (1) EP0941454B1 (fr)
JP (1) JP3488472B2 (fr)
KR (1) KR100302170B1 (fr)
DE (1) DE59706336D1 (fr)
WO (1) WO1998025101A2 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030019113A1 (en) * 2001-07-26 2003-01-30 Valeo Schalter Und Sensoren Gmbh Steering column module with steering angle sensor having low sensitivity to steering column radial run-out
JP4407120B2 (ja) * 2002-01-08 2010-02-03 トヨタ自動車株式会社 車両用操舵装置
JP2003287418A (ja) * 2002-03-28 2003-10-10 Alps Electric Co Ltd 操舵角検出装置
US9266518B2 (en) * 2013-11-08 2016-02-23 GM Global Technology Operations LLC Component control system for a vehicle

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Publication number Priority date Publication date Assignee Title
US3746842A (en) * 1971-09-27 1973-07-17 Laitram Corp Digital magnetic compass
FR2310549A1 (fr) * 1975-05-07 1976-12-03 Sagem Perfectionnements aux dispositifs optiques de determination de la position d'un organe mobile
US4071818A (en) * 1975-11-03 1978-01-31 Combustion Engineering, Inc. Magnetostrictive position indicator
WO1984001027A1 (fr) * 1982-09-01 1984-03-15 Rosemount Eng Co Ltd Dispositif de mesure de position
GB2126444B (en) * 1982-09-01 1986-03-19 Rosemount Eng Co Ltd Position measuring apparatus
JPH041522A (ja) 1990-04-18 1992-01-07 Nikon Corp 異常事態を検出可能なアブソリュート・エンコーダ
US5281901A (en) * 1990-12-03 1994-01-25 Eaton-Kenway, Inc. Downward compatible AGV system and methods
US5529138A (en) * 1993-01-22 1996-06-25 Shaw; David C. H. Vehicle collision avoidance system
DE19506019C2 (de) * 1995-02-22 2000-04-13 Telefunken Microelectron Verfahren zum Betrieb eines optischen Lenkwinkelsensors

Also Published As

Publication number Publication date
JP2000507710A (ja) 2000-06-20
WO1998025101A2 (fr) 1998-06-11
DE59706336D1 (de) 2002-03-21
KR20000057348A (ko) 2000-09-15
JP3488472B2 (ja) 2004-01-19
EP0941454A2 (fr) 1999-09-15
US6226569B1 (en) 2001-05-01
KR100302170B1 (ko) 2001-09-22
WO1998025101A3 (fr) 1998-08-06

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